CN106253586B - A kind of AC servo angle measurement vibration unit - Google Patents
A kind of AC servo angle measurement vibration unit Download PDFInfo
- Publication number
- CN106253586B CN106253586B CN201610716800.2A CN201610716800A CN106253586B CN 106253586 B CN106253586 B CN 106253586B CN 201610716800 A CN201610716800 A CN 201610716800A CN 106253586 B CN106253586 B CN 106253586B
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- China
- Prior art keywords
- iron core
- winding
- stator iron
- slot
- unslotted rotor
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/42—Devices characterised by the use of electric or magnetic means
- G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
- G01P3/46—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring amplitude of generated current or voltage
- G01P3/465—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring amplitude of generated current or voltage by using dynamo-electro tachometers or electric generator
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
Abstract
The invention discloses a kind of AC servo angle measurement vibrate unit, including shaft, copper sheathing, internal stator iron core, permanent magnetic steel, output winding, Hall element, unslotted rotor, every magnetic pillowcase, external stator iron core, field winding, casing, end cap and bearing.Shaft passes through unslotted rotor, copper sheathing centre bore and bearing, is fixed by end cap and casing；Internal stator iron core is fixed with copper sheathing, and permanent magnetic steel, Hall element and output winding embed in the clip slot and slot for winding of internal stator iron core；External stator iron core is fixed with casing, and excitation winding embeds in outer stator core slot for winding；Unslotted rotor cup body is placed in inside and outside stator core gap, and unslotted rotor includes iron core and inside and outside two layers of short-circuited winding, and iron core every magnetic pillowcase by being divided into inside and outside two layers.Unit is vibrated in AC servo angle measurement of the invention, and motor and angle measurement vibration device share same rotor, compact-sized, small in size, stable, and can directly export electric signal corresponding with the vibration of unit momentary rotational angle.
Description
Technical field
The present invention relates to a kind of AC servo units, can measure AC servomotor wink more particularly to one kind
When rotation angle vibration information integral type unit.
Background technique
Servomotor is also known as operating motor, and executive component is used as in automatic control system, and the voltage of input is believed
Number it is transformed to the angular displacement or angular speed output of shaft.Servomotor can be divided into direct current according to the difference of power supply natures
Servomotor and AC servomotor.Wherein momentary rotational angle vibration information, including angular velocity of rotation and angular acceleration letter
Breath is that by the measurement to angular velocity of rotation, angular acceleration servomotor may be implemented in the important parameter of servomotor
The monitoring of operating status, and servomotor is controlled according to production requirement.
Test the speed unit frequently with AC servo at present, manufacture craft is generally servomotor and tachometer share it is same
A shaft, but stator and rotor windings (or cup body of cup-shaped rotor) they are two-part structure, therefore, the global shape for the unit that tests the speed
Mostly slender type, volume is larger, and the manufacturing cost of unit is higher.And common AC servo unit can only detection system rotation
Angular velocity information can not obtain its momentary rotational angle acceleration information simultaneously.
The measurement common method of servomotor rotating angular acceleration can be divided into indirect method and direct method, the indirect method of measurement one
As synthesized using the output of linear acceleration sensor in multiple orientation, and use differential circuit or differential calculation algorithm
Angular velocity signal carries out differential process to obtain angular acceleration, and the indirect method of measurement is more troublesome to the processing of signal, especially
Lag characteristic and noise scale-up problem are not easy to solve；The direct method of measurement is usually directly to be measured using special sensing element, is worked
Shi Caiyong shaft coupling connects the shaft of servomotor and the shaft of rotating angular acceleration sensor with one heart, due to shaft coupling
Inevitably there is error in processing and system, be easy to cause the decentraction of shaft in assembling process, affect system fortune
The accuracy of the stability and momentary rotational angle acceleration analysis that turn, in addition, the structure of most rotating angular acceleration detection devices
Design more complex, and it is not high by factors such as frequencies to be influenced precision.
Summary of the invention
The purpose of the present invention is in view of the deficiencies of the prior art, propose a kind of AC servo angle measurement vibration unit.
The purpose of the present invention takes following technical proposals to realize:
Unit is vibrated in a kind of AC servo angle measurement, including shaft, copper sheathing, internal stator iron core, permanent magnetic steel, output winding,
Hall element, unslotted rotor, every magnetic pillowcase, external stator iron core, field winding, casing, front and rear cover and self-contained bearing；
The shaft sequentially passes through drive end bearing bracket bearing, unslotted rotor, copper sheathing centre bore and bearing of rear end cover, passes through respectively
Forward and backward end cap is fixed with casing；
The copper sheathing is fixed on the inside of rear end cap, and center is equipped with through-hole；
The internal stator iron core is concentrically fitted to the outside of copper sheathing, is equipped with clip slot and slot for winding, and clip slot and slot for winding
Spatially it is uniformly distributed；
The permanent magnetic steel embeds in the clip slot of internal stator iron core；
The Hall element embeds in the clip slot of internal stator iron core；
The output winding embeds in the slot for winding of internal stator iron core；
The external stator iron core is fixed on the inside of casing, and is equipped with slot for winding；
The field winding is two-phase, is embedded in the slot for winding of outer stator core；
The unslotted rotor is solidification integral structure, and generally cupuliform, cup body is placed between inside and outside stator core
In air-gap；
The bottom of a cup of the unslotted rotor is fixed with shaft, and shaft is followed to rotate together with；
The unslotted rotor includes iron core and inside and outside two layers of winding, and direct short-circuit, be separately fixed at iron core inside and
Outside；
It is described every magnetic pillowcase be cylindrical shape, be placed in the iron core of unslotted rotor, the iron core of unslotted rotor be divided into inside and outside two
Layer；
The clip slot of the internal stator iron core is six, and slot for winding is two；
The permanent magnetic steel is four, is placed in four equally distributed clip slots of internal stator iron core；
The Hall element is two panels, and installation site is spatially staggered 90 ° of angles；
The output winding is single-phase winding；
The installation site of the two-phase field winding spatially misplaces symmetric arrays, and each leads into two and be staggered 90 °
The alternating voltage of electrical angle.
Beneficial effects of the present invention: a kind of AC servo angle measurement vibration unit, AC servomotor and rotation angular oscillation
Detection device shares unslotted rotor, is not necessarily to other transmission parts, and it is excellent to have that compact-sized, small in size, noise is low, runs smoothly etc.
Point；In addition, the rotation angle vibration detection device measurement accuracy in unit is high, and without the signals ejectors such as slip ring, Neng Gouzhi
It connects, simultaneously by momentary rotational angle speed and the angular acceleration signal output of servomotor, signal is carried out without differential circuit
Processing has preferable anti-interference ability and higher signal-to-noise ratio.
Detailed description of the invention
Fig. 1 is the structure chart that unit is vibrated in a kind of AC servo angle measurement of the invention；
Fig. 2 is the Section A-A figure that unit is vibrated in a kind of AC servo angle measurement of the invention；
Fig. 3 is the working principle diagram that unit is vibrated in a kind of AC servo angle measurement of the invention.
Specific embodiment
A kind of implementation of AC servo angle measurement vibration unit of the invention is further described below in conjunction with attached drawing.
As shown in Figure 1 and Figure 2, unit is vibrated in a kind of AC servo angle measurement, including shaft 1, drive end bearing bracket bearing 2, drive end bearing bracket 3,
Casing 4, external stator iron core 5, field winding 6, unslotted rotor 7, every magnetic pillowcase 8, permanent magnetic steel 9, copper sheathing 10, bearing of rear end cover
11, rear end cap 12, output winding 13, internal stator iron core 14 and Hall element 15；
The shaft 1 sequentially passes through drive end bearing bracket bearing 2, unslotted rotor 7, the centre bore of copper sheathing 10 and bearing of rear end cover 11,
It is fixed by drive end bearing bracket 3 and rear end cap 12 and casing 4 respectively；
The copper sheathing 10 is fixed on the inside of rear end cap 12, and center is equipped with through-hole；
The internal stator iron core 14 is concentrically fitted to the outside of copper sheathing 10, be equipped with clip slot and slot for winding, and clip slot and around
Group slot is spatially uniformly distributed；
The permanent magnetic steel 9 embeds in the clip slot of internal stator iron core 14；
The Hall element 15 embeds in the clip slot of internal stator iron core 14；
The output winding 13 embeds in the slot for winding of internal stator iron core 14；
The external stator iron core 5 is fixed on the inside of casing 4, and is equipped with slot for winding；
The field winding 6 is two-phase, respectively 601-604 and 605-608, embeds the slot for winding in outer stator core 5
In；
The unslotted rotor 7 is solidification integral structure, generally cupuliform, cup body be placed in internal stator iron core 14 with it is outer fixed
In air-gap between sub- iron core 5；
The bottom of a cup and shaft 1 of the unslotted rotor 7 are fixed, and shaft 1 is followed to rotate together with；
The unslotted rotor 7 includes iron core and internal layer winding 702, outer layer winding 701, and winding 702 and 701 is directly short
Road is separately fixed at the inner side and outer side of iron core；
It is described every magnetic pillowcase 8 be cylindrical shape, be placed in the iron core of unslotted rotor 7, by the iron core of unslotted rotor 7 be divided into,
Outer two layers；
The clip slot of the internal stator iron core 14 is six, and slot for winding is two；
The permanent magnetic steel 9 is four, is placed in four equally distributed clip slots of internal stator iron core 14；
The Hall element 15 is two panels, and installation site is spatially staggered 90 ° of angles；
The output winding 13 is single-phase winding；
The installation site of two-phase the field winding 601-604 and 605-608 spatially misplace symmetric arrays, and respectively
It is passed through two alternating voltages for being staggered 90 ° of electrical angles.
Fig. 3 is the working principle diagram that unit is vibrated in a kind of AC servo angle measurement of the invention:
According to the working principle of ac motor it is found that working as the symmetrical field winding of two-phase, it is passed through two-phase and symmetrically exchanges
When voltage, rotating excitation field can be generated in air gap.Field winding structure according to Fig.3, the rotating excitation field of formation are symmetrical
Four magnetic poles, it is assumed that magnetic flux Φ1, then the magnetic flux via external stator iron core, air-gap and unslotted rotor external iron core shape
At closed circuit.
Due to magnetic flux phi1For rotating excitation field, according to Faraday's electromagnetic induction law, the outer layer winding of unslotted rotor is generated
Induced electromotive force, due to the outer layer winding direct short-circuit of unslotted rotor, there are electric currents in winding, and the electric current is in rotating excitation field
Under the action of effect by electromagnetic force, then generate the electromagnetic torque of driving, unslotted rotor driven to start turning, it is assumed that is instantaneous
Angular velocity of rotation is Ω.
Assuming that the electromagnetic torque that unslotted rotor is subject to is counterclockwise, then the internal layer winding of unslotted rotor starts cutting forever
The magnetic flux Φ of magnetic magnet steel2, the magnetic flux via internal stator iron core, air-gap and unslotted rotor inner iron core formed closed circuit, and
Magnetic flux Φ2Without output winding.
When the internal layer winding of unslotted rotor cuts magnetic flux Φ with angular velocity vector Ω counterclockwise2When, according to faraday electromagnetic induction
Law, the induced electromotive force that the internal layer winding of unslotted rotor generates are as follows:
E=CeΦ2Ω (1),
C in formulaeFor constant relevant to unslotted rotor internal layer winding construction.
According to the right-hand rule, the direction of induced electromotive force e is as shown in figure 3, since the internal layer winding of unslotted rotor is short circuit
Connection then generates short circuit current i in winding, and electric current is proportional to induced electromotive force.The short circuit current generates magnetic flux Φ respectively3With
Φ4, it is assumed that magnetic circuit is unsaturated, then magnetic flux Φ3And Φ4It is directly proportional to short circuit current, and direction and electric current meet right-handed helix and determine
Then.
According to the above process it is found that magnetic flux Φ3And Φ4It is directly proportional to induced electromotive force e, it may be assumed that
Due to magnetic flux Φ3Closure is formed after the inner iron core of internal stator iron core, Hall element, air-gap and unslotted rotor
Circuit, the Hall voltage generated according to Hall effect, Hall element are as follows:
EH∝Φ3 (3)。
Simultaneous formula (3), (2), (1) are known:
EH∝Ω (4)。
That is Hall voltage EHIt is directly proportional to the momentary rotational angle speed of unit.
Due to magnetic flux Φ4Closure is formed after the inner iron core of internal stator iron core, output winding, air-gap and unslotted rotor
Circuit exports the induced potential that winding generates according to the law of electromagnetic induction are as follows:
N is the effective turn for exporting winding in formula.
Simultaneous formula (5), (2), (1) are known:
Export the induced electromotive force e of windingoWith the momentary rotational angle acceleration of unitIt is directly proportional.
Unit is vibrated in a kind of AC servo angle measurement of the invention, and AC servomotor and rotation angle vibration detection device are total
With unslotted rotor, other transmission parts are not necessarily to, has many advantages, such as that compact-sized, small in size, noise is low, run smoothly；In addition, machine
Rotation angle vibration detection device measurement accuracy in group is high, and without signals ejectors such as slip rings, will can watch directly, simultaneously
Take motor momentary rotational angle speed and angular acceleration signal output, signal is handled without differential circuit, have compared with
Good anti-interference ability and higher signal-to-noise ratio.
Embodiment is not construed as limitation of the present invention, but any based on spiritual improvements introduced of the invention, all should be
Within protection scope of the present invention.
Claims (6)
1. unit is vibrated in a kind of AC servo angle measurement, including shaft, copper sheathing, internal stator iron core, permanent magnetic steel, output winding, suddenly
Your element, unslotted rotor, every magnetic pillowcase, external stator iron core, field winding, casing, front and rear cover and self-contained bearing；
It is characterized by: AC servomotor and rotation angle vibration detection device share unslotted rotor；The shaft is successively worn
Drive end bearing bracket bearing, unslotted rotor, copper sheathing centre bore and bearing of rear end cover are crossed, is fixed respectively by forward and backward end cap with casing；
The copper sheathing is fixed on the inside of rear end cap, and center is equipped with through-hole；
The internal stator iron core is concentrically fitted to the outside of copper sheathing, is equipped with clip slot and slot for winding, and clip slot and slot for winding are in sky
Between on be uniformly distributed；The permanent magnetic steel embeds in the clip slot of internal stator iron core；The Hall element is embedded in inner stator iron
In the clip slot of the heart；The output winding embeds in the slot for winding of internal stator iron core；
The external stator iron core is fixed on the inside of casing, and is equipped with slot for winding；
The field winding is two-phase, is embedded in the slot for winding of outer stator core；
The unslotted rotor is solidification integral structure, and generally cupuliform, cup body is placed in the air between inside and outside stator core
In gap；The bottom of a cup of the unslotted rotor is fixed with shaft, and shaft is followed to rotate together with；The unslotted rotor include iron core and it is interior,
Outer two layers of winding, and direct short-circuit, are separately fixed at the inner side and outer side of iron core；
It is described every magnetic pillowcase be cylindrical shape, be placed in the iron core of unslotted rotor, the iron core of unslotted rotor be divided into inside and outside two layers；
The working principle of AC servo angle measurement vibration unit includes: and to be passed through two-phase when the field winding two is symmetrical
When symmetrical alternating voltage, rotating excitation field is generated in the air-gap, which is symmetrical four magnetic poles, is corresponded to
Magnetic flux phi1Closed circuit is formed via the external iron core of the external stator iron core, the air-gap and the unslotted rotor；
The magnetic flux phi1For rotating excitation field, the outer layer winding of the unslotted rotor generates induced electromotive force, and the slotless turns
The outer layer winding direct short-circuit of son, then there are electric current, effect of the electric current in the rotating excitation field in the outer layer winding
Under effect by electromagnetic force, then generate the electromagnetic torque of driving, the unslotted rotor driven to start turning, generate instantaneous rotation
Tarnsition velocity Ω；
The electromagnetic torque that the unslotted rotor is subject to is that counterclockwise, then the internal layer winding of the unslotted rotor starts to cut institute
State the magnetic flux phi of permanent magnetic steel2, the magnetic flux phi2Via the internal stator iron core, the air-gap and the unslotted rotor
Inner iron core form closed circuit, and the magnetic flux phi2Without the output winding.
2. unit is vibrated in a kind of AC servo angle measurement according to claim 1, it is characterised in that: the clip slot of internal stator iron core
It is six, slot for winding is two.
3. unit is vibrated in a kind of AC servo angle measurement according to claim 1, it is characterised in that: permanent magnetic steel is four,
It is placed in four equally distributed clip slots of internal stator iron core.
4. unit is vibrated in a kind of AC servo angle measurement according to claim 1, it is characterised in that: Hall element is two panels,
Installation site is spatially staggered 90 ° of angles.
5. unit is vibrated in a kind of AC servo angle measurement according to claim 1, it is characterised in that: output winding be it is single-phase around
Group.
6. unit is vibrated in a kind of AC servo angle measurement according to claim 1, it is characterised in that: the peace of two-phase field winding
Holding position spatially misplaces symmetric arrays, and each leads into two alternating voltages for being staggered 90 ° of electrical angles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610716800.2A CN106253586B (en) | 2016-08-15 | 2016-08-15 | A kind of AC servo angle measurement vibration unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610716800.2A CN106253586B (en) | 2016-08-15 | 2016-08-15 | A kind of AC servo angle measurement vibration unit |
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| Publication Number | Publication Date |
|---|---|
| CN106253586A CN106253586A (en) | 2016-12-21 |
| CN106253586B true CN106253586B (en) | 2019-06-18 |
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|---|---|---|---|
| CN201610716800.2A Active CN106253586B (en) | 2016-08-15 | 2016-08-15 | A kind of AC servo angle measurement vibration unit |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001218431A (en) * | 2000-01-28 | 2001-08-10 | Mitsubishi Heavy Ind Ltd | Motor |
| CN201237606Y (en) * | 2008-07-04 | 2009-05-13 | 嘉兴学院 | Permanent magnet type rotating angular acceleration sensor |
| CN103915960A (en) * | 2012-12-28 | 2014-07-09 | 杨玉岗 | Integrated electromagnetic speed-regulating motor |
| CN104300755A (en) * | 2014-09-11 | 2015-01-21 | 东南大学 | Double-layer coil wound rotor type double-stator brushless double-fed motor |
| CN105471211A (en) * | 2015-12-29 | 2016-04-06 | 赵浩 | Generator capable of simultaneously measuring rotating angular velocity and angular acceleration |
| CN105610289A (en) * | 2015-12-29 | 2016-05-25 | 赵浩 | Alternating current/direct current tachogenerator |
| CN105634235A (en) * | 2015-12-29 | 2016-06-01 | 赵浩 | Shaft sleeve generator capable of simultaneously measuring rotating angular speed and angular acceleration |
-
2016
- 2016-08-15 CN CN201610716800.2A patent/CN106253586B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001218431A (en) * | 2000-01-28 | 2001-08-10 | Mitsubishi Heavy Ind Ltd | Motor |
| CN201237606Y (en) * | 2008-07-04 | 2009-05-13 | 嘉兴学院 | Permanent magnet type rotating angular acceleration sensor |
| CN103915960A (en) * | 2012-12-28 | 2014-07-09 | 杨玉岗 | Integrated electromagnetic speed-regulating motor |
| CN104300755A (en) * | 2014-09-11 | 2015-01-21 | 东南大学 | Double-layer coil wound rotor type double-stator brushless double-fed motor |
| CN105471211A (en) * | 2015-12-29 | 2016-04-06 | 赵浩 | Generator capable of simultaneously measuring rotating angular velocity and angular acceleration |
| CN105610289A (en) * | 2015-12-29 | 2016-05-25 | 赵浩 | Alternating current/direct current tachogenerator |
| CN105634235A (en) * | 2015-12-29 | 2016-06-01 | 赵浩 | Shaft sleeve generator capable of simultaneously measuring rotating angular speed and angular acceleration |
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| Publication number | Publication date |
|---|---|
| CN106253586A (en) | 2016-12-21 |
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| CB03 | Change of inventor or designer information |
Inventor after: Zhao Hao Inventor after: Shen Liyao Inventor after: Dai Ting Inventor after: Wang Ting Inventor after: Yu Shanshan Inventor after: Feng Hao Inventor after: Liu Qingsong Inventor after: Wang Xuan Inventor after: Li Hongwu Inventor after: Ma Ruyuan Inventor after: Zhou Li Inventor after: Wang Chengxian Inventor after: Cai Chunfang Inventor before: Zhao Hao Inventor before: Feng Hao Inventor before: Liu Qingsong Inventor before: Wang Xuan |
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Effective date of registration: 20190522 Address after: 314000 2 building, Photovoltaic Science Park, 1288 Kang He road, Xiuzhou District, Jiaxing, Zhejiang. Applicant after: Jiaxing University Address before: 314001 Jiaxing University, 56 Yuexiu South Road, Jiaxing, Zhejiang Applicant before: Zhao Hao |
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